Merge/logan evans irwinj

@LoganEvans, I merged our two development branches. If you're ok with the changes, please merge.

I recommend looking at the network graph (https://github.com/PalouseRobosub/robosub/network) to see what I actually did.

We had a merge conflict on the microcontroller stuff, but I confirmed that everything is in order in that regard. No merge conflicts with stuff you were working on.